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209
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ICRA
2007
IEEE
16 years 1 months ago
2007
IEEE
— Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the zero moment point or ZMP. The objective of thi...
170
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ICRA
2007
IEEE
16 years 1 months ago
2007
IEEE
— This paper describes realtime and robust tracking of a planar motion target by matched filter implemented on the CMOS+FPGA vision system. It is required to obtain positional a...
175
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ICRA
2007
IEEE
16 years 1 months ago
2007
IEEE
— Hierarchical state machines have proven to be a powerful tool for controlling autonomous robots due to their flexibility and modularity. For most real robot implementations, h...
147
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ICRA
2007
IEEE
16 years 1 months ago
2007
IEEE
Abstract— This paper describes the design of a fast longjumping robot conceived to move in unstructured environments through simple feed-forward control laws. Despite the apparen...
186
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ICRA
2007
IEEE
16 years 1 months ago
2007
IEEE
— Outside of the laboratory, accurate models of ground impact dynamics are either difficult or impossible to obtain. Instead, a rigid ground model is often used in gait and cont...